Domain-coordinated control strategy based on adaptive yaw moment distribution for fault- tolerant steer-by-wire in over-actuated electric vehicles

Domain-coordinated control strategy based on adaptive yaw moment distribution for fault- tolerant steer-by-wire in over-actuated electric vehicles | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Domain-coordinated control strategy based on adaptive yaw moment distribution for fault- tolerant steer-by-wire in over-actuated electric vehicles Seunguk Jeon, Yunchul Ha, Aldo Sorniotti, Seunghoon Woo This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-9398031/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 10 You are reading this latest preprint version Abstract For electrically actuated steer-by-wire (SbW) systems, fault-tolerant control (FTC) that can handle complete failure is essential for ensuring vehicle safety. Herein, a domain-coordinated FTC strategy based on adaptive yaw-moment distribution is proposed for over-actuated electric vehicles under complete SbW conditions. Unlike conventional SbW-FTC strategies, the proposed strategy improves tracking performance by incorporating the influence of failed actuator dynamics into the control strategy. An integrated state-space model is developed to capture the coupled dynamics of vehicle lateral motion and fault-induced front-wheel steering. Based on this model, the desired yaw moment is adaptively distributed between torque vectoring and rear-wheel steering using real-time sensitivity information that reflects both yaw-moment effectiveness and unintended front-wheel steering according to the driving condition. Simulation results show that compared with the empirically tuned fixed-ratio strategy, the proposed strategy reduces the trajectory-tracking error and yaw-rate tracking error by 6% and 7%, respectively, during a lane-change maneuver. It satisfies the acceptance criterion for the degradation scenario specified in DIN 70065, a functional safety standard for SbW systems. The FTC system with the proposed strategy achieves an average computation time of 0.206 ms in the rapid control prototyping environment, demonstrating real-time feasibility for implementation in production-vehicle microcontroller units. Physical sciences/Engineering Physical sciences/Mathematics and computing Adaptive yaw-moment distribution Domain-coordinated control Fault tolerant control Rear wheel steering Steer-by-wire Torque vectoring Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Reviewers agreed at journal 29 Apr, 2026 Reviewers agreed at journal 25 Apr, 2026 Reviewers agreed at journal 24 Apr, 2026 Reviewers agreed at journal 23 Apr, 2026 Reviewers agreed at journal 23 Apr, 2026 Reviewers invited by journal 23 Apr, 2026 Editor assigned by journal 23 Apr, 2026 Editor invited by journal 21 Apr, 2026 Submission checks completed at journal 16 Apr, 2026 First submitted to journal 16 Apr, 2026 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-9398031","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":633602604,"identity":"4f77abc2-a7d5-4480-8d30-e43214e0c376","order_by":0,"name":"Seunguk Jeon","email":"","orcid":"","institution":"Kookmin University","correspondingAuthor":false,"prefix":"","firstName":"Seunguk","middleName":"","lastName":"Jeon","suffix":""},{"id":633602605,"identity":"4d8626b5-fc76-4303-aac6-b729926b265a","order_by":1,"name":"Yunchul Ha","email":"","orcid":"","institution":"Kookmin University","correspondingAuthor":false,"prefix":"","firstName":"Yunchul","middleName":"","lastName":"Ha","suffix":""},{"id":633602606,"identity":"78d6791f-0d77-4159-83ca-435501b2f480","order_by":2,"name":"Aldo Sorniotti","email":"","orcid":"","institution":"Polytechnic University","correspondingAuthor":false,"prefix":"","firstName":"Aldo","middleName":"","lastName":"Sorniotti","suffix":""},{"id":633602607,"identity":"1519a7f7-2813-49c7-b83a-d198b89763ac","order_by":3,"name":"Seunghoon Woo","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA2ElEQVRIiWNgGAWjYBACAwbmBiBlY8DAwMbAkAAWYyOkhbERqCeNdC2HDZBUEtBizt7Y/rii5rwxP3tb6oaHOxjk+RvY0j7g02LZc7Cx8cyx22aSPceO3Ug8w2A44wDb4Rl4HXYjsbGxge22jcGN9LYbiW0MjBsY2Jvx+wWs5d85uBZ74rQ0th0wM7iRdgykJXEDA9thvFpAfpnZ2JdsDPRLGlCLRPKMw2zJeLWYszcf+Njwzc6wn73N7ObPNhvb/vY2Y7xa0IEEAwMzSRpGwSgYBaNgFGADALEgTXNrCqJVAAAAAElFTkSuQmCC","orcid":"","institution":"Kookmin University","correspondingAuthor":true,"prefix":"","firstName":"Seunghoon","middleName":"","lastName":"Woo","suffix":""}],"badges":[],"createdAt":"2026-04-13 03:09:45","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-9398031/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-9398031/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":108493337,"identity":"8e52dbab-0fda-4899-b92c-3edad95526e7","added_by":"auto","created_at":"2026-05-05 09:59:59","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1069636,"visible":true,"origin":"","legend":"","description":"","filename":"SciRepmanuscriptrevised.pdf","url":"https://assets-eu.researchsquare.com/files/rs-9398031/v1_covered_9e760f32-59e5-4324-8c08-18627afa17b6.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Domain-coordinated control strategy based on adaptive yaw moment distribution for fault- tolerant steer-by-wire in over-actuated electric vehicles","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"Adaptive yaw-moment distribution, Domain-coordinated control, Fault tolerant control, Rear wheel steering, Steer-by-wire, Torque vectoring","lastPublishedDoi":"10.21203/rs.3.rs-9398031/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-9398031/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eFor electrically actuated steer-by-wire (SbW) systems, fault-tolerant control (FTC) that can handle complete failure is essential for ensuring vehicle safety. Herein, a domain-coordinated FTC strategy based on adaptive yaw-moment distribution is proposed for over-actuated electric vehicles under complete SbW conditions. Unlike conventional SbW-FTC strategies, the proposed strategy improves tracking performance by incorporating the influence of failed actuator dynamics into the control strategy. An integrated state-space model is developed to capture the coupled dynamics of vehicle lateral motion and fault-induced front-wheel steering. Based on this model, the desired yaw moment is adaptively distributed between torque vectoring and rear-wheel steering using real-time sensitivity information that reflects both yaw-moment effectiveness and unintended front-wheel steering according to the driving condition. Simulation results show that compared with the empirically tuned fixed-ratio strategy, the proposed strategy reduces the trajectory-tracking error and yaw-rate tracking error by 6% and 7%, respectively, during a lane-change maneuver. It satisfies the acceptance criterion for the degradation scenario specified in DIN 70065, a functional safety standard for SbW systems. 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